Generate Cartesian Trajectory VI

Owning Palette: Kinematics VIs

Requires: Robotics Module

Generates a smooth trajectory of end effector positions between two points in Cartesian space. Wire data to the intermediate points input to determine the polymorphic instance to use or manually select the instance.

.m file: ctraj

Details  Example

Generate Cartesian Trajectory (Int)

Use this instance to return a trajectory of evenly spaced points.

	intermediate points specifies the number of evenly spaced points at which to interpolate values. LabVIEW returns an error if intermediate points is less than 2.
	start transform specifies the homogenous transform that represents the end effector position at which to begin the interpolated trajectory.
	end transform specifies the homogenous transform that represents the end effector position at which to end the interpolated trajectory.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	interpolated trajectory contains the end effector positions at the number of evenly spaced intermediate points you specify.
	error out contains error information. This output provides standard error out functionality.

Generate Cartesian Trajectory (Array)

Use this instance to return a trajectory with points spaced at the intervals you specify.

	intermediate points specifies intervals between start transform and end transform at which to interpolate values. Elements of intermediate points are numbers between 0 and 1, inclusive.
	start transform specifies the homogenous transform that represents the end effector position at which to begin the interpolated trajectory.
	end transform specifies the homogenous transform that represents the end effector position at which to end the interpolated trajectory.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	interpolated trajectory contains the end effector positions at the intervals between start transform and end transform that you specify in the intermediate points input. This VI returns start transform and end transform in interpolated trajectory if intermediate points contains an element of 0 or 1, respectively.
	error out contains error information. This output provides standard error out functionality.

Generate Cartesian Trajectory Details

The Generate Cartesian Trajectory (Int) instance of this VI generates the interpolated trajectory from times 0 to 1 with a step of 1 / (intermediate points – 1). As a result, the number of points in interpolated trajectory is equal to intermediate points.

Example

Refer to the Robot Arm Examples.lvproj in the labview\examples\robotics\Robotic Arm directory for an example of using the Generate Cartesian Trajectory VI.